I was told to make sample 12" squares and practice. I first tried a baby quilt by going around the design. Then after more practice I bought an embroidery machine and made a quilt with the quilt designs in the squares (I was not confident yet and didn't believe in myself). Now after many quilts I now either do large stippling or follow a stencil marked on the quilt. My own work looks much better than that time-consuming embroidery/quilting. I still do embroidery on quilt squares, but they are just embroidery and I quilt it myself.
Try it on scraps, take a class, or practice with a friend. You can do free motion quilting!